Yuval Tassa
2830a4071f
PiperOrigin-RevId: 639745135 Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
45 lines
1.0 KiB
XML
45 lines
1.0 KiB
XML
<mujoco>
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<visual>
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<global elevation="0"/>
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</visual>
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<default>
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<position ctrlrange="-.2 .2"/>
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<joint axis="1 0 0" type="slide"/>
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</default>
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<option integrator="implicitfast"/>
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<worldbody>
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<light pos="0 0 2"/>
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<body pos="0 0 .15">
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<joint name="0"/>
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<geom size=".05"/>
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</body>
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<body>
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<joint name="1"/>
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<geom mass="1" size=".05"/>
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</body>
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<body pos="0 0 -.15">
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<joint name="2"/>
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<geom mass="1" size=".05"/>
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</body>
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<body pos="0 0 -.3">
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<joint name="3"/>
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<geom mass="1" size=".05"/>
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</body>
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</worldbody>
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<actuator>
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<position name="r=1/3" joint="0" dampratio=".333" kp="10"/>
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<position name="r=1" joint="1" dampratio="1" kp="10"/>
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<position name="r=3" joint="2" dampratio="3" kp="10"/>
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<!-- transmission increased by 10: reduce kp by 10^2 -->
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<position name="r=1, g=10" joint="3" dampratio="1" kp=".1" gear="10" ctrlrange="-2 2"/>
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</actuator>
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</mujoco>
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